Don't put NaN inertias in tests.

RobotLocomotion · Jan 15, 2025 · e7c3d87 · e7c3d87
1 parent ed9ae14
commit e7c3d87
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Showing 5 changed files with 10 additions and 10 deletions.
diff --git a/multibody/tree/rotational_inertia.h b/multibody/tree/rotational_inertia.h
@@ -190,7 +190,7 @@ class RotationalInertia {
   RotationalInertia(const T& Ixx, const T& Iyy, const T& Izz, const T& Ixy,
                     const T& Ixz, const T& Iyz) {
     set_moments_and_products_no_validity_check(Ixx, Iyy, Izz, Ixy, Ixz, Iyz);
-    // DRAKE_ASSERT_VOID(ThrowIfNotPhysicallyValid(__func__));
+    DRAKE_ASSERT_VOID(ThrowIfNotPhysicallyValid(__func__));
   }
 
   /// Constructs a rotational inertia for a particle Q of mass `mass`, whose

diff --git a/multibody/tree/test/frames_test.cc b/multibody/tree/test/frames_test.cc
@@ -39,11 +39,11 @@ const double kEpsilon = std::numeric_limits<double>::epsilon();
 class FrameTests : public ::testing::Test {
  public:
   void SetUp() override {
-    // Creates a NaN SpatialInertia to instantiate a body for the test.
-    // Using a NaN spatial inertia is ok in this unit test since all
+    // Creates a Zero SpatialInertia to instantiate a body for the test.
+    // Using a Zero spatial inertia is ok in this unit test since all
     // computations only relate to frame kinematics (and therefore mass
     // properties do not play any role.)
-    const auto M_Bo_B = SpatialInertia<double>::NaN();
+    const auto M_Bo_B = SpatialInertia<double>::Zero();
 
     // Create an empty model.
     auto model = std::make_unique<internal::MultibodyTree<double>>();

diff --git a/multibody/tree/test/multibody_tree_test.cc b/multibody/tree/test/multibody_tree_test.cc
@@ -1261,7 +1261,7 @@ class WeldMobilizerTest : public ::testing::Test {
   void SetUp() override {
     // Spatial inertia for each body. The actual value is not important for
     // these tests since they are all kinematic.
-    const auto M_B = SpatialInertia<double>::NaN();
+    const auto M_B = SpatialInertia<double>::Zero();
 
     // Create an empty model.
     auto model = std::make_unique<MultibodyTree<double>>();

diff --git a/multibody/tree/test/prismatic_spring_test.cc b/multibody/tree/test/prismatic_spring_test.cc
@@ -29,8 +29,8 @@ class SpringTester : public ::testing::Test {
     // Create an empty model.
     auto model = std::make_unique<MultibodyTree<double>>();
 
-    bodyA_ = &model->AddRigidBody("BodyA", SpatialInertia<double>::NaN());
-    bodyB_ = &model->AddRigidBody("BodyB", SpatialInertia<double>::NaN());
+    bodyA_ = &model->AddRigidBody("BodyA", SpatialInertia<double>::Zero());
+    bodyB_ = &model->AddRigidBody("BodyB", SpatialInertia<double>::Zero());
 
     model->AddJoint<WeldJoint>("WeldBodyAToWorld", model->world_body(), {},
                                *bodyA_, {},

diff --git a/multibody/tree/test/revolute_spring_test.cc b/multibody/tree/test/revolute_spring_test.cc
@@ -30,9 +30,9 @@ class SpringTester : public ::testing::Test {
     // Create an empty model.
     auto model = std::make_unique<MultibodyTree<double>>();
 
-    bodyA_ = &model->AddRigidBody("BodyA", SpatialInertia<double>::NaN());
-    bodyB_ = &model->AddRigidBody("BodyB", SpatialInertia<double>::NaN());
-    bodyC_ = &model->AddRigidBody("BodyC", SpatialInertia<double>::NaN());
+    bodyA_ = &model->AddRigidBody("BodyA", SpatialInertia<double>::Zero());
+    bodyB_ = &model->AddRigidBody("BodyB", SpatialInertia<double>::Zero());
+    bodyC_ = &model->AddRigidBody("BodyC", SpatialInertia<double>::Zero());
 
     model->AddJoint<WeldJoint>("WeldBodyAToWorld", model->world_body(), {},
                                *bodyA_, {},